Nonlinear Sliding Mode Tracking Control of Underactuated Tower Cranes

Liu, Zhuoqing; Sun, Ning; Wu, Yiming; Xin, Xin; Fang, Yongchun

doi:10.1007/s12555-020-0033-5

Cited by 32 publications

(11 citation statements)

References 61 publications

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“…Existing methods are divided into open loop methods 5,6 and feedback control strategies. [7][8][9][10][11][12][13][14][15][16] Specially, in References 7 and 8, Sun et al propose an energy-based control method to guarantee both positioning and payload swing elimination control of tower cranes, by constructing a positive definite scalar function. In Reference 9, a model predictive controller is presented to generate optimal control sequences for real time control of the tower cranes.…”

Section: Introductionmentioning

confidence: 99%

“…17 So far, abundant controllers based on SMC theory are developed for the tower crane. [14][15][16] In particular, Zhang et al 14 propose a robust anti-sway tracking control method for 4-DOF tower crane systems using adaptive integral sliding mode control method. In Reference 15, an integral sliding mode control is designed for the tower crane to realize the satisfactory tracking while eliminating the oscillations of the payload.…”

Section: Introductionmentioning

confidence: 99%

“…Hence, a lot of insightful control methods have previously been investigated to address anti‐sway and positioning problem for tower cranes. Existing methods are divided into open loop methods 5,6 and feedback control strategies 7‐16 . Specially, in References 7 and 8, Sun et al propose an energy‐based control method to guarantee both positioning and payload swing elimination control of tower cranes, by constructing a positive definite scalar function.…”

Section: Introductionmentioning

confidence: 99%

“…Sliding mode control (SMC) has been commonly used among robust control strategies, due to its ease to design and strong robustness against model parameter variations and external disturbances 17 . So far, abundant controllers based on SMC theory are developed for the tower crane 14‐16 . In particular, Zhang et al 14 propose a robust anti‐sway tracking control method for 4‐DOF tower crane systems using adaptive integral sliding mode control method.…”

Section: Introductionmentioning

confidence: 99%

“…However, this control method has a great limitation in practical application, since it is designed based on the simplified (i.e., linearized/approximated) tower crane dynamics. Besides, Liu et al 16 propose a nonlinear sliding mode tracking controller to achieve precise tracking performance and effective sway suppression. Nevertheless, the traditional SMC methods adopt the linear switching surfaces and can only achieve infinite‐time convergence to the equilibrium, which greatly reduce the working efficiency and control precision of tower crane.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Adaptive hierarchical sliding mode controller for tower cranes based on finite time disturbance observer

Zhou

Hong

et al. 2022

Adaptive Control & Signal

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Summary A finite time disturbance observer (FTDO) based adaptive hierarchical sliding mode control (AHSMC) is proposed for 4‐DOF tower crane systems with unknown external disturbances. More specifically, to overcome the unknown disturbances, an FTDO combined with the designed adaptive observation error is presented to estimate both matched and unmatched disturbances. Then a new error dynamics taking into account the unmatched disturbances is defined, based on which, a novel nonsingular fast terminal sliding mode (FTSM) surfaces is designed to improve the convergence of system states. Finally, in order to ensure the stability of each subsystem, an AHSMC law incorporating the suggested FTSM‐type reaching law is presented to realize the anti‐sway and positioning control of tower crane system. The finite‐time stability analysis of the closed‐loop system is derived by Lyapunov technique, and simulation results verify the effectiveness of the presented control strategy.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Adaptive hierarchical sliding mode controller for tower cranes based on finite time disturbance observer

Zhou

Hong

et al. 2022

Adaptive Control & Signal

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Fixed time robust control for tower cranes with unmatched disturbances and input saturation

Hong

et al. 2023

Adaptive Control & Signal

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To address the challenging problem of fixed-time anti-sway and positioning control for tower cranes with uncertain disturbances and input saturation, a novel fixed-time anti-saturation robust algorithm is proposed. First, on the basis of a newly designed fixed-time convergence system, a fixed-time disturbance observer (FTDO) is developed to estimate the matched and unmatched disturbances. Then, an anti-saturation compensator is employed to deal with the input saturation and make the control input leave the saturated region rapidly. Upon which, a novel non-singular fast terminal sliding mode surface is presented. Furthermore, in order to ensure the stability of each subsystem, a hierarchical sliding mode surface taking into account unmatched disturbances and input saturation is designed. Finally, the FTDO based hierarchical sliding mode control law is introduced to improve the transient control performance and robustness of tower cranes. The fixed-time convergence of the closed-loop system is proved by Lyapunov technique. Numerical simulations for four scenarios demonstrate the validity of the presented control scheme and fastest convergence speed in comparison to the recently proposed fixed-time control methods.

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A Novel Sliding Mode Control Method for Tower Crane Systems by Employing Beneficial Disturbance Effects

Zhang

Jing

Zhu³

et al. 2021

Lecture Notes in Electrical Engineering

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Nonlinear Sliding Mode Tracking Control of Underactuated Tower Cranes

Cited by 32 publications

References 61 publications

Adaptive hierarchical sliding mode controller for tower cranes based on finite time disturbance observer

Adaptive hierarchical sliding mode controller for tower cranes based on finite time disturbance observer

Fixed time robust control for tower cranes with unmatched disturbances and input saturation

A Novel Sliding Mode Control Method for Tower Crane Systems by Employing Beneficial Disturbance Effects

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